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merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

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Still need to verify to make sure no unwanted renaming is introduced.
This commit is contained in:
ejcoumans
2006-09-27 20:43:51 +00:00
parent d1e9a885f3
commit eb23bb5c0c
263 changed files with 7528 additions and 6714 deletions
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34
src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
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@@ -16,8 +16,8 @@ subject to the following restrictions:
#ifndef DISCRETE_COLLISION_DETECTOR_INTERFACE_H
#define DISCRETE_COLLISION_DETECTOR_INTERFACE_H
#include "LinearMath/SimdTransform.h"
#include "LinearMath/SimdVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
/// This interface is made to be used by an iterative approach to do TimeOfImpact calculations
@@ -25,7 +25,7 @@ subject to the following restrictions:
/// the closest point is on the second object (B), and the normal points from the surface on B towards A.
/// distance is between closest points on B and closest point on A. So you can calculate closest point on A
/// by taking closestPointInA = closestPointInB + m_distance * m_normalOnSurfaceB
struct DiscreteCollisionDetectorInterface
struct btDiscreteCollisionDetectorInterface
{
void operator delete(void* ptr) {};
@@ -37,7 +37,7 @@ struct DiscreteCollisionDetectorInterface
///SetShapeIdentifiers provides experimental support for per-triangle material / custom material combiner
virtual void SetShapeIdentifiers(int partId0,int index0, int partId1,int index1)=0;
virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)=0;
virtual void AddContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)=0;
};
struct ClosestPointInput
@@ -47,35 +47,35 @@ struct DiscreteCollisionDetectorInterface
{
}
SimdTransform m_transformA;
SimdTransform m_transformB;
SimdScalar m_maximumDistanceSquared;
btTransform m_transformA;
btTransform m_transformB;
btScalar m_maximumDistanceSquared;
};
virtual ~DiscreteCollisionDetectorInterface() {};
virtual ~btDiscreteCollisionDetectorInterface() {};
//
// give either closest points (distance > 0) or penetration (distance)
// the normal always points from B towards A
//
virtual void GetClosestPoints(const ClosestPointInput& input,Result& output,class IDebugDraw* debugDraw) = 0;
virtual void GetClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw) = 0;
SimdScalar getCollisionMargin() { return 0.2f;}
btScalar getCollisionMargin() { return 0.2f;}
};
struct StorageResult : public DiscreteCollisionDetectorInterface::Result
struct btStorageResult : public btDiscreteCollisionDetectorInterface::Result
{
SimdVector3 m_normalOnSurfaceB;
SimdVector3 m_closestPointInB;
SimdScalar m_distance; //negative means penetration !
btVector3 m_normalOnSurfaceB;
btVector3 m_closestPointInB;
btScalar m_distance; //negative means penetration !
StorageResult() : m_distance(1e30f)
btStorageResult() : m_distance(1e30f)
{
}
virtual ~StorageResult() {};
virtual ~btStorageResult() {};
virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
virtual void AddContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)
{
if (depth < m_distance)
{